1995 Volume 57 Issue 1 Pages 51-58
A sensor system which had functions of discrimination, recognition and distance measurement was developed for visual sensor of cucumber harvesting robot. The sensor system consisted of a monochrome TV camera to which 850nm interference filter was attached and a photo-electric sensor which measured the three dimensional shape of not only fruit but leaves and stems. Fruit detecting experiment was done in greenhouse using this sensor system and the following results were obtained. The TV camera could satisfactorily discriminate and recognize fruits which were not hidden by obstacles. The photo-electric sensor could detect distances of fruits and objects which would obstruct the robot when harvesting. It was considered this sensor system would be effective when two sensors were used in combination.
